CN112937562B - Vehicle travel control method, electronic device, and storage medium - Google Patents
Vehicle travel control method, electronic device, and storage medium Download PDFInfo
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- CN112937562B CN112937562B CN202110209348.1A CN202110209348A CN112937562B CN 112937562 B CN112937562 B CN 112937562B CN 202110209348 A CN202110209348 A CN 202110209348A CN 112937562 B CN112937562 B CN 112937562B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18109—Braking
Abstract
The application discloses a vehicle running control method, an electronic device and a storage medium. A vehicle travel control method comprising: acquiring barrier information in front of a vehicle; when the passing obstacle is detected in front of the vehicle, the braking mode of the vehicle passing through the passing obstacle is adjusted according to the vehicle speed or the type of the passing obstacle. This application is through detecting the barrier to vehicle the place ahead to according to speed of a motor vehicle or the braking mode when barrier type adjustment vehicle passes through the accessible barrier, avoid passing through too high brake force when barrier, correct the wrong braking operation of customer's driving action, avoid the dangerous condition of axletree fracture to take place.
Description
Technical Field
The application relates to the technical field of electric automobiles, in particular to a vehicle running control method, electronic equipment and a storage medium.
Background
Axle breakage is a great safety accident and also a problem affecting the quality of bad products. Axle breakage problems are partly a product design problem, but more so due to driver mishandling. When a vehicle impacts a road block at a great speed, a single-side axle breakage is likely to occur.
Therefore, how to avoid the misoperation of the driver is the key to avoid the axle breakage.
However, the conventional art does not consider that the erroneous operation of the driver is restricted, and therefore, even if the axle strength is increased, the axle is broken.
Disclosure of Invention
In view of the above, it is necessary to provide a vehicle travel control method, an electronic device, and a storage medium for limiting the technical problem of the breakage of an axle due to the erroneous operation of a driver in the related art.
The present application provides a vehicle travel control method including:
acquiring barrier information in front of a vehicle;
when the passing obstacle is detected in front of the vehicle, the braking mode of the vehicle passing through the passing obstacle is adjusted according to the vehicle speed or the type of the passing obstacle.
Further, the adjusting the braking mode when the vehicle passes through the obstacle according to the vehicle speed or the type of the obstacle that can pass through the obstacle specifically includes:
if the vehicle speed is less than the warning vehicle speed threshold value, or the type of the obstacle which can pass through the obstacle is a risk-free type, not limiting the braking mode when the vehicle passes through the obstacle;
and if the vehicle speed is greater than or equal to the warning vehicle speed threshold value and the type of the obstacle passing through the obstacle is a risky type, limiting the braking mode when the vehicle passes through the obstacle passing through according to the vehicle speed.
Still further, the brake modes include a first brake mode and one or more other brake modes, the maximum brake force of the first brake mode is greater than the maximum brake force of the other brake modes, and the limiting the brake mode when the vehicle passes through the passing obstacle according to the vehicle speed specifically includes:
and limiting the brake mode when the vehicle passes through the barrier to be other brake modes according to the vehicle speed.
Still further, the limiting the braking mode when the vehicle passes through the accessible obstacle according to the vehicle speed is another braking mode, specifically includes:
if the vehicle speed is in a first vehicle speed range, limiting the brake mode when the vehicle passes through the accessible obstacle to be the other brake mode;
if the vehicle speed is in a second vehicle speed range, reducing the vehicle to a preset safe speed, and limiting the brake mode when the vehicle passes through the accessible obstacle to be other brake modes, wherein the minimum vehicle speed of the second vehicle speed range is greater than or equal to the maximum vehicle speed of the first vehicle speed range;
and if the vehicle speed is in a third vehicle speed range, reducing the speed of the vehicle by adopting a first brake mode, and limiting the brake mode when the vehicle passes through the accessible obstacle to be other brake modes, wherein the minimum vehicle speed of the third vehicle speed range is greater than or equal to the maximum vehicle speed of the second vehicle speed range.
Still further, if the vehicle speed is in a third vehicle speed range, the decelerating the vehicle by using the first braking mode, and limiting the braking mode when the vehicle passes through the obstacle to be another braking mode specifically includes:
if the vehicle speed is in a third vehicle speed range, and when the passing obstacle is detected, the distance between the vehicle and the passing obstacle is larger than a preset first distance threshold value, reducing the vehicle to a preset safe speed by adopting a first braking mode, and limiting the braking mode when the vehicle passes through the passing obstacle to be other braking modes;
if the vehicle speed is in a third vehicle speed range, and when the passable obstacle is detected, the distance between the vehicle and the passable obstacle is smaller than or equal to a preset first distance threshold value, adopting a first braking mode to continuously reduce the vehicle speed until the distance between the vehicle and the passable obstacle is smaller than or equal to a preset second distance threshold value, and limiting the braking mode when the vehicle passes through the passable obstacle to be other braking modes, wherein the second distance is smaller than the first distance threshold value.
Still further, if the vehicle speed is in a third vehicle speed range, and when the passing obstacle is detected, the distance between the vehicle and the passing obstacle is smaller than or equal to a preset first distance threshold, the first braking mode is adopted to continuously decelerate the vehicle until the distance between the vehicle and the passing obstacle is smaller than or equal to a preset second distance threshold, and the braking mode when the vehicle passes through the passing obstacle is limited to be another braking mode, specifically including:
if the vehicle speed is in a third vehicle speed range, and when the passable obstacle is detected, the distance between the vehicle and the passable obstacle is smaller than or equal to a preset first distance threshold value, adopting a first braking mode to continuously reduce the speed of the vehicle until the distance between the vehicle and the passable obstacle is smaller than or equal to a preset second distance threshold value, limiting the braking mode when the vehicle passes through the passable obstacle to be other braking modes, and detecting the vehicle speed when the vehicle passes through the passable obstacle;
and if the vehicle speed passing through the passing obstacle is greater than the safe speed, prompting parking check.
Still further, the method comprises the step of giving an alarm prompt if the vehicle speed is larger than or equal to an alarm vehicle speed threshold value and the type of the obstacle which can pass through the obstacle is an at-risk type.
And further, if the deviation phenomenon of the vehicle is detected during normal running, prompting that the steering system is abnormal.
The application provides a vehicle control electronic equipment that traveles includes: at least one processor; and (c) a second step of,
a memory communicatively coupled to at least one of the processors; wherein the content of the first and second substances,
the memory stores instructions executable by at least one of the processors to enable the at least one of the processors to:
the vehicle travel control method as described above is executed.
The present application provides a storage medium storing computer instructions for performing all the steps of the vehicle travel control method as described above when the computer executes the computer instructions.
This application is through detecting the barrier to vehicle the place ahead to according to speed of a motor vehicle or the braking mode when barrier type adjustment vehicle passes through the accessible barrier, avoid passing through too high brake force when barrier, correct the wrong braking operation of customer's driving action, avoid the dangerous condition of axletree fracture to take place.
Drawings
FIG. 1 is a flowchart illustrating a method for controlling vehicle driving according to an embodiment of the present disclosure
FIG. 2 is a flowchart illustrating a method for controlling the driving of a vehicle according to an embodiment of the present disclosure;
FIG. 3 is a flowchart illustrating a method for controlling the driving of a vehicle according to an embodiment of the present disclosure;
fig. 4 is a schematic diagram of a hardware structure of an electronic device for controlling vehicle running according to an embodiment of the present application.
Detailed Description
The invention is described in further detail below with reference to the figures and specific examples.
As shown in fig. 1, a work flow chart of a vehicle driving control method according to an embodiment of the present application includes:
step S101, acquiring obstacle information in front of a vehicle;
and step S102, when the passing obstacle is detected in front of the vehicle, adjusting the braking mode when the vehicle passes through the passing obstacle according to the vehicle speed or the type of the passing obstacle.
Specifically, the present application can be applied to a vehicle Electronic Control Unit (ECU).
When step S101 is executed, obstacle information in front of the vehicle is collected. The camera and the radar of the automobile with the automatic driving and driving assisting functions can be used for collecting image information and distance of suspicious obstacles on the front road. By detecting the type and distance of the front obstacle, when the obstacle is found to exist in the driving direction of the wheels, the step S102 is triggered to analyze and judge the obstacle, and according to the vehicle speed or the type of the obstacle which can pass through the obstacle, a braking system is controlled, the braking mode when the vehicle passes through the obstacle is adjusted, and the dangerous condition of axle breakage is avoided.
The passable obstacle refers to an obstacle with the height lower than a preset height threshold value, and a vehicle can pass through the obstacle. Such as steps, rocks, curbs, pits, blocks, rails, fabric, foam, and the like.
This application is through detecting the barrier in vehicle the place ahead to according to the speed of a motor vehicle or the braking mode when barrier type adjustment vehicle passes through accessible barrier, avoid passing through too high brake force when barrier, correct the wrong braking operation of customer's driving action, avoid the axletree fracture dangerous condition to take place.
Fig. 2 is a flowchart illustrating a vehicle driving control method according to an embodiment of the present application, including:
step S201, collecting barrier information in front of a vehicle;
step S202, when a passable obstacle is detected in front of the vehicle;
step S203, if the vehicle speed is less than the warning vehicle speed threshold value, or the type of the obstacle which can pass through the obstacle is a risk-free type, the braking mode when the vehicle passes through the obstacle is not limited;
step S204, if the vehicle speed is more than or equal to the warning vehicle speed threshold value and the type of the obstacle which can pass through the obstacle is a risky type, warning prompt is carried out, and the braking mode when the vehicle passes through the obstacle is limited according to the vehicle speed;
and S205, if the vehicle has a deviation phenomenon when normal running is detected, prompting that the steering system is abnormal.
Specifically, the information acquisition module, the information analysis module, the information sending module and the control execution module can be arranged in the information acquisition system. The information acquisition module utilizes current assembly autopilot and drives camera and the radar of support function car, carries out step S201, gathers suspicious obstacle image information in place ahead road surface, distance to can set up 1 optical line sensors, 1 fog/haze concentration sensor, 1 raindrop sensor and gather the obstacle visibility. The information analysis module executes the step S202, firstly, the image is subjected to sharpening processing, and the influence of weather reasons on the barrier which cannot be clearly distinguished is removed; the suspicious obstacle accurate classification identification is carried out based on an analysis model, the information analysis model executes step S202, and the suspicious obstacle accurate classification identification can be obtained by carrying out neural network deep learning on image data of various road obstacles, can be used for identifying the types of the obstacles, including steps, curbs, stones, pits, wood blocks, rails and the like, and can be used for identifying fabric, foam and the like as risk-free obstacles. The information sending module executes the step S202 to analyze the current risk state according to the current driving state and the type of the obstacle, and if the deviation phenomenon of the vehicle is detected when the vehicle normally drives, the abnormality of the steering system is prompted. If the risk exists currently, step S204 is executed to send the information to the control execution module. And the control execution module adopts different control strategies according to different risk degrees. And if the vehicle speed is less than the warning vehicle speed threshold value, or the type of the obstacle which can pass through the obstacle is a risk-free type, no information is sent, and the braking mode when the vehicle passes through the obstacle is not limited.
The embodiment avoids vehicle axle breakage through reminding the driver and the processing mode that does not when the vehicle meets the axle breakage danger of different grades through detecting the vehicle road surface barrier condition, and the processing mode is simple, avoids major accident and serious loss to take place.
In one embodiment, the braking modes include a first braking mode and one or more other braking modes, the maximum braking force of the first braking mode is greater than the maximum braking force of the other braking modes, and the limiting the braking mode when the vehicle passes through the passing obstacle according to the vehicle speed specifically includes:
and limiting the brake mode when the vehicle passes through the barrier to be other brake modes according to the vehicle speed.
Specifically, the first braking mode is a double braking mode, and the other braking modes include a second braking mode and a third braking mode. The braking force of the second braking mode is greater than the braking force of the third braking mode. The second braking mode is a medium braking mode, and the third braking mode is a light braking mode.
The embodiment divides the braking mode into a plurality of, through restricting the braking mode of vehicle to other braking modes except first braking mode, avoids the vehicle when passing through the accessible barrier, and the driver adopts the broken axle risk that heavy braking slam brake leads to.
In one embodiment, the braking mode when the vehicle passes through the obstacle is limited according to the vehicle speed is another braking mode, which specifically includes:
if the vehicle speed is in a first vehicle speed range, limiting the brake mode when the vehicle passes through the accessible obstacle to be the other brake mode;
if the vehicle speed is in a second vehicle speed range, reducing the vehicle to a preset safe speed, and limiting the brake mode when the vehicle passes through the accessible obstacle to be other brake modes, wherein the minimum vehicle speed of the second vehicle speed range is greater than or equal to the maximum vehicle speed of the first vehicle speed range;
and if the vehicle speed is in a third vehicle speed range, reducing the speed of the vehicle by adopting a first brake mode, and limiting the brake mode when the vehicle passes through the accessible obstacle to be other brake modes, wherein the minimum vehicle speed of the third vehicle speed range is greater than or equal to the maximum vehicle speed of the second vehicle speed range.
The embodiment controls the braking mode when the vehicle passes through the barrier according to different running speeds. When the vehicle speed is low, only the brake mode when the vehicle can pass through the obstacle is limited, so that the shaft breakage is avoided. And for the condition that the vehicle speed is high, the vehicle speed of the vehicle is reduced in advance so that the vehicle passes through the obstacle at a lower vehicle speed, and meanwhile, the braking mode when the vehicle passes through the obstacle is limited so as to avoid the broken shaft.
In one embodiment, if the vehicle speed is in the third vehicle speed range, the decelerating the vehicle by using the first braking mode, and limiting the braking mode when the vehicle passes through the obstacle to be another braking mode specifically includes:
if the vehicle speed is in a third vehicle speed range, and when the accessible obstacle is detected, the distance between the vehicle and the accessible obstacle is larger than a preset first distance threshold value, reducing the vehicle to a preset safe speed by adopting a first braking mode, and limiting the braking mode when the vehicle passes through the accessible obstacle to be other braking modes;
if the vehicle speed is in a third vehicle speed range, and when the passable obstacle is detected, the distance between the vehicle and the passable obstacle is smaller than or equal to a preset first distance threshold value, adopting a first braking mode to continuously reduce the speed of the vehicle until the distance between the vehicle and the passable obstacle is smaller than or equal to a preset second distance threshold value, and limiting the braking mode when the vehicle passes through the passable obstacle to be other braking modes, wherein the second distance is smaller than the first distance threshold value.
The embodiment detects the distance to the obstacle for the high-speed condition, and if the vehicle is close to the obstacle, the first braking mode is adopted to continuously reduce the speed, and the braking mode when the vehicle passes through the obstacle is limited to be the other braking mode. Wherein the second distance may be a small value.
In one embodiment, if the vehicle speed is in a third vehicle speed range, and when the passable obstacle is detected, the distance between the vehicle and the passable obstacle is smaller than or equal to a preset first distance threshold, the first braking mode is adopted to continuously decelerate the vehicle until the distance between the vehicle and the passable obstacle is smaller than or equal to a preset second distance threshold, and the braking mode when the vehicle passes through the passable obstacle is limited to be another braking mode, specifically including:
if the vehicle speed is in a third vehicle speed range, and when the passable obstacle is detected, the distance between the vehicle and the passable obstacle is smaller than or equal to a preset first distance threshold value, adopting a first braking mode to continuously reduce the speed of the vehicle until the distance between the vehicle and the passable obstacle is smaller than or equal to a preset second distance threshold value, limiting the braking mode when the vehicle passes through the passable obstacle to be other braking modes, and detecting the vehicle speed when the vehicle passes through the passable obstacle;
and if the vehicle speed when passing the passing obstacle is greater than the safe speed, prompting parking check.
In the embodiment, the parking check prompt is performed for the condition that the vehicle cannot pass through the obstacle at a safe and safe speed, so that the safety of the vehicle is improved.
As shown in fig. 3, an embodiment of the present application provides a work flow chart of a vehicle driving control method, including:
step S301, preventing the misoperation of system starting, and detecting the visibility and the distance of the barrier;
step S302, image sharpening processing is carried out;
step S303, obstacle type analysis;
step S304, risk identification is carried out;
step S305, if the deviation phenomenon occurs and the steering system is abnormal, prompting maintenance;
step S306, if the current vehicle speed is less than or equal to 40 kilometers per hour (kph) or no risk is detected due to soft obstacles, no information is sent;
step S307, if the current vehicle speed is larger than 40kph and the obstacle is detected to form a risk, transmitting obstacle information, distance information and vehicle speed information;
step S308, if the current vehicle speed is 40-50kph and the risk is low, the driver is reminded of the risk, the user is prevented from mistakenly operating and slamming on the brake, heavy braking is limited, and the limitation is finished after the vehicle passes through the obstacle;
step S309, if the current vehicle speed is 50-70kph, the vehicle is in a middle risk, the driver is reminded of the risk, the operation is required to avoid the risk, if the driver has no feedback within 1 second, the vehicle is decelerated to be less than or equal to 50kph, the braking mode is adjusted to be light braking, the user is limited to be heavily braked, and the limitation is finished after the vehicle passes through an obstacle;
step S310, if the current vehicle speed is greater than 70kph, the risk is high, if the distance between obstacles is greater than or equal to 30 meters, step S311 is executed, otherwise, step S312 is executed;
step S311, reminding emergency risks, requiring to take operation to avoid risks, if the driver has no feedback within 1 second, slowing down the heavy braking to be less than or equal to 50kph, adjusting the braking mode to be middle braking, limiting the heavy braking of the user, and ending the limitation after passing through an obstacle;
and S312, when the distance between the obstacles is less than 30 meters, the automatic execution system directly intervenes to continuously brake heavily, when the obstacles are reached, the automatic execution system is adjusted to be middle brake, the passing speed is judged after the obstacles pass, if the passing speed is less than or equal to 50kph, the safety is judged, and otherwise, the overhaul is prompted.
The invention is provided with an information acquisition module 3001, an information analysis module 3002, an information transmission module 3003 and a control execution module 3004. Information acquisition module 3001 is camera and radar that utilize current assembly autopilot and drive the vehicle with auxiliary function, gathers suspicious obstacle image information in place ahead road surface, distance to set up 1 light sensor, 1 fog/haze consistency transmitter, 1 raindrop sensor and gather the obstacle visibility. The information analysis module 3002 first performs a sharpening process on the image to remove the influence of the weather on the obstacle that cannot be sharply distinguished. The suspicious obstacle accurate classification and identification is carried out based on an analysis model, the information analysis model 3002 carries out neural network deep learning on image data of various road obstacles to obtain accurate obstacle types, including steps, curbs, stones, pits, wood blocks, rails and the like, and fabrics, foams and the like are identified as risk-free obstacles. The information sending module 3003 analyzes the current risk state according to the current driving state and the type of the obstacle, and sends the information to the next module if the current risk exists. The control execution module 3004 adopts different control strategies depending on the degree of risk.
The device of the embodiment has an on/off button, and a user can select whether to start the system or not and turn on the system in a default condition.
The front obstacle is detected to be a light object such as fabric and foam which do not form a risk, and no danger information is sent.
When normal driving is detected, the vehicle has a deviation phenomenon, the steering system is prompted to be abnormally overhauled, and the misoperation risk of a client is reduced.
The front obstacle is detected to cause obstacles such as steps, stones, curbs, pits, wood blocks and rails with the risk of axle breakage, and if the vehicle speed is less than the safe speed of 40kph, the risk of axle breakage is avoided directly, and no dangerous information is sent.
And detecting obstacles such as steps, stones, curbs, pits, wood blocks and rails which can cause the risk of axle breakage due to the front obstacle, and sending dangerous information to the next module if the current vehicle speed is higher than the safe speed of 40 kph.
The signal reaches the control execution module 3004, and when the vehicle speed is within 50kph of the dangerous speed, the control execution module 3004 judges that the risk is low, only prompts the risk of the roadblock, and the driver decelerates or steers according to the situation. If the driver has no feedback, the current driving state is kept to pass, the stress of the wheels does not exceed the strength design limit, and the risk of axle breakage is small. However, if the driver brakes violently when the vehicle approaches an obstacle, the wheels are locked to bump a convex object or fall into a pit, so that huge stress is caused, and the risk of axle breakage is increased. Thus, to prevent the driver from erroneously slamming on the brake, the control execution module 3004 limits the brake system from re-braking.
The signal reaches the control execution module 3004, and when the vehicle speed is 50-70kph, the execution module judges the medium risk and prompts the roadblock risk through voice. Without feedback within the driver 1s, the following operations are automatically performed: according to the obstacle distance, a reasonable braking grade (light braking, medium braking and heavy braking) is automatically selected to be decelerated to be below 50 kph. When the vehicle reaches the obstacle, the vehicle user is limited from performing misoperation to perform hard braking, and the current braking grade is automatically adjusted to be light braking to pass the obstacle.
The signal reaches the control execution module 3004, and when the vehicle speed is higher than 70kph, the execution module judges that the risk is high and prompts the high risk of the roadblock through voice. Without feedback within the driver 1s, the following operations are performed automatically: the heavy brake decelerates below 50kph as a function of the barrier distance, and the vehicle passes over the barrier at a safe speed. When the vehicle reaches the obstacle, the vehicle user is limited from performing misoperation to perform hard braking, and the current braking grade is automatically adjusted to be middle braking to pass the obstacle.
If the detected distance to the obstacle is shorter than 30m and the vehicle speed is higher than 70kph, the execution module judges that the risk is high, and directly takes over and executes the following operations: the heavy brake is continuously decelerated, and when the wheels approach obstacles, the brake mode is adjusted to be middle brake and passes through the roadblock. If the current pass speed is less than 50kph, no parking check is prompted, if the current pass speed is greater than 50 kph.
This embodiment is through setting up information acquisition module, information judgment module, information sending module, control execution module on the vehicle, detects the vehicle road surface barrier condition, when the vehicle meets the axletree fracture danger of different grades, through reminding the driver and the processing method that does not, avoids the vehicle axletree fracture, and the processing method is simple, belongs to the safe development direction of vehicle initiative, avoids major accident and serious loss to take place.
Fig. 4 is a schematic diagram of a hardware structure of an electronic device for controlling vehicle running according to an embodiment of the present application, including:
at least one processor 401; and the number of the first and second groups,
a memory 402 communicatively coupled to at least one of the processors 401; wherein the content of the first and second substances,
the memory 402 stores instructions executable by at least one of the processors 401 to cause at least one of the processors 401 to:
the vehicle travel control method as described above is executed.
The Electronic device may be a vehicle Electronic Control Unit (ECU). In fig. 4, one processor 401 is taken as an example.
The electronic device may further include: an input device 403 and a display device 404.
The processor 401, the memory 402, the input device 403, and the display device 404 may be connected by a bus or other means, and are illustrated as being connected by a bus.
The memory 402, which is a non-volatile computer-readable storage medium, may be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions/modules corresponding to the vehicle driving control method in the embodiment of the present application, for example, the method flow shown in fig. 1. The processor 401 executes various functional applications and data processing by executing nonvolatile software programs, instructions, and modules stored in the memory 402, that is, implements the vehicle travel control method in the above-described embodiment.
The memory 402 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the vehicle travel control method, and the like. Further, the memory 402 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, the memory 402 may optionally include a memory remotely located from the processor 401, and such remote memory may be connected via a network to a device executing the vehicle travel control method. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 403 may receive an input of a user click and generate signal inputs related to user settings of the vehicle travel control method and function control. The display device 404 may include a display screen or the like.
The vehicle travel control method in any of the above method embodiments is performed when the one or more modules are stored in the memory 402 and executed by the one or more processors 401.
This application is through detecting the barrier to vehicle the place ahead to according to speed of a motor vehicle or the braking mode when barrier type adjustment vehicle passes through the accessible barrier, avoid passing through too high brake force when barrier, correct the wrong braking operation of customer's driving action, avoid the dangerous condition of axletree fracture to take place.
An embodiment of the present application provides a storage medium storing computer instructions for executing all the steps of the vehicle travel control method as described above when a computer executes the computer instructions.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is specific and detailed, but not to be understood as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (8)
1. A vehicle travel control method characterized by comprising:
acquiring barrier information in front of a vehicle;
when an accessible obstacle is detected in front of the vehicle, adjusting a braking mode when the vehicle passes through the accessible obstacle according to the vehicle speed or the type of the obstacle passing through the accessible obstacle;
the method for adjusting the braking mode of the vehicle passing through the obstacle according to the vehicle speed or the obstacle type of the obstacle capable of passing through the obstacle specifically comprises the following steps:
if the vehicle speed is less than the warning vehicle speed threshold value, or the type of the obstacle passing through the obstacle is a risk-free type, not limiting the braking mode when the vehicle passes through the obstacle passing through;
if the vehicle speed is greater than or equal to the warning vehicle speed threshold value and the type of the obstacle passing through the obstacle is a risky type, limiting the braking mode when the vehicle passes through the obstacle passing through the obstacle according to the vehicle speed;
the brake mode includes a first brake mode and one or more other brake modes, the maximum brake force of the first brake mode is greater than the maximum brake force of the other brake modes, and the limiting the brake mode when the vehicle passes through the passing obstacle according to the vehicle speed specifically includes:
and limiting the brake mode when the vehicle passes through the barrier to be other brake modes according to the vehicle speed.
2. The vehicle travel control method according to claim 1, wherein the limiting of the braking mode when the vehicle passes through the passable obstacle according to the vehicle speed is another braking mode, specifically includes:
if the vehicle speed is in a first vehicle speed range, limiting the brake mode when the vehicle passes through the accessible obstacle to be the other brake mode;
if the vehicle speed is in a second vehicle speed range, reducing the vehicle to a preset safe speed, and limiting the brake mode when the vehicle passes through the barrier to be other brake modes, wherein the minimum vehicle speed of the second vehicle speed range is greater than or equal to the maximum vehicle speed of the first vehicle speed range;
and if the vehicle speed is in a third vehicle speed range, reducing the speed of the vehicle by adopting a first brake mode, and limiting the brake mode when the vehicle passes through the accessible obstacle to be other brake modes, wherein the minimum vehicle speed of the third vehicle speed range is greater than or equal to the maximum vehicle speed of the second vehicle speed range.
3. The vehicle running control method according to claim 2, wherein if the vehicle speed is in a third vehicle speed range, decelerating the vehicle using the first brake mode and limiting the brake mode when the vehicle passes through the passable obstacle to the other brake mode, specifically comprises:
if the vehicle speed is in a third vehicle speed range, and when the accessible obstacle is detected, the distance between the vehicle and the accessible obstacle is larger than a preset first distance threshold value, reducing the vehicle to a preset safe speed by adopting a first braking mode, and limiting the braking mode when the vehicle passes through the accessible obstacle to be other braking modes;
if the vehicle speed is in a third vehicle speed range, and when the passable obstacle is detected, the distance between the vehicle and the passable obstacle is smaller than or equal to a preset first distance threshold value, adopting a first braking mode to continuously reduce the vehicle speed until the distance between the vehicle and the passable obstacle is smaller than or equal to a preset second distance threshold value, and limiting the braking mode when the vehicle passes through the passable obstacle to be other braking modes, wherein the second distance is smaller than the first distance threshold value.
4. The vehicle running control method according to claim 3, wherein if the vehicle speed is in a third vehicle speed range and the distance between the vehicle and the passable obstacle is less than or equal to a preset first distance threshold when the passable obstacle is detected, adopting the first braking mode to continuously decelerate the vehicle until the distance between the vehicle and the passable obstacle is less than or equal to a preset second distance threshold, and limiting the braking mode when the vehicle passes the passable obstacle to be the other braking mode, specifically comprises:
if the vehicle speed is in a third vehicle speed range, and when the passable obstacle is detected, the distance between the vehicle and the passable obstacle is smaller than or equal to a preset first distance threshold value, adopting a first braking mode to continuously reduce the vehicle speed until the distance between the vehicle and the passable obstacle is smaller than or equal to a preset second distance threshold value, limiting the braking mode when the vehicle passes through the passable obstacle to be other braking modes, and detecting the vehicle speed when the vehicle passes through the passable obstacle;
and if the vehicle speed when passing the passing obstacle is greater than the safe speed, prompting parking check.
5. The vehicle running control method according to claim 1, further comprising making an alarm prompt if the vehicle speed is equal to or greater than an alarm vehicle speed threshold and the obstacle type that can pass through the obstacle is a risky type.
6. The vehicle running control method according to any one of claims 1 to 5, further comprising prompting that the steering system is abnormal if a deviation phenomenon of the vehicle is detected while normal running.
7. A vehicle travel control electronic apparatus characterized by comprising: at least one processor; and (c) a second step of,
a memory communicatively coupled to at least one of the processors; wherein the content of the first and second substances,
the memory stores instructions executable by at least one of the processors to enable the at least one of the processors to:
the vehicle travel control method according to any one of claims 1 to 6 is executed.
8. A storage medium characterized by storing computer instructions for executing all the steps of the vehicle travel control method according to any one of claims 1 to 6 when the computer instructions are executed by a computer.
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| JP3319229B2 (en) * | 1995-07-03 | 2002-08-26 | トヨタ自動車株式会社 | Vehicle travel control device |
| DE102013225778A1 (en) * | 2013-12-12 | 2015-06-18 | Robert Bosch Gmbh | Method and device for the transverse guidance of a motor vehicle, in particular for evasion support |
| US9751527B2 (en) * | 2014-07-09 | 2017-09-05 | Alcatel-Lucent Usa Inc. | In-the-road, passable obstruction avoidance arrangement |
| JP6811308B2 (en) * | 2017-03-30 | 2021-01-13 | 本田技研工業株式会社 | Vehicle control systems, vehicle control methods, and vehicle control programs |
| CN109229105A (en) * | 2017-06-27 | 2019-01-18 | 奥迪股份公司 | Driving assistance system and method |
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